Пример #1
0
  g2o::EdgeSE3* addTransformationEdge(g2o::VertexSE3 *from, g2o::VertexSE3 *to, const dvo::core::AffineTransformd& transform, const dvo::core::Matrix6d& information)
  {
    assert(from != 0 && to != 0);

    g2o::EdgeSE3* edge = new g2o::EdgeSE3();
    edge->setId(max_edge_id_++);
    edge->resize(2);
    edge->setVertex(0, from);
    edge->setVertex(1, to);
    edge->setMeasurement(toIsometry(transform));
    edge->setInformation(information);

    graph_.addEdge(edge);

    return edge;
  }
Пример #2
0
void test()
{
	Isometry3d T = Eigen::Isometry3d::Identity();
	T(0,0)=1;
	T(0,1)=0;
	T(0,2)=0;
	T(1,0)=0;
	T(1,1)=0.707;
	T(1,2)=-0.707;
	T(2,0)=0;
	T(2,1)=0.707;
	T(2,2)=0.707;
	T(0,3)=0;
	T(1,3)=0;
	T(2,3)=0.5;

	cout<<T.matrix()<<endl;
	
	for (int i = 2; i <=8; i++)
	{
		g2o::EdgeSE3* edge = new g2o::EdgeSE3();
		g2o::VertexSE3 *v = new g2o::VertexSE3();
		
		v->setId(i);
		v->setEstimate( Eigen::Isometry3d::Identity() );
	        m_globalOptimizer.addVertex(v);
	        
	        edge->vertices() [0] = m_globalOptimizer.vertex( i-1 );
	        edge->vertices() [1] = m_globalOptimizer.vertex( i );
	        
	        Eigen::Matrix<double, 6, 6> information = Eigen::Matrix< double, 6,6 >::Identity();
	        information(0,0) = information(1,1) = information(2,2) = 100;
	        information(3,3) = information(4,4) = information(5,5) = 100;
	        edge->setInformation( information );
	        edge->setMeasurement( T );
	        m_globalOptimizer.addEdge(edge);

		
		
	}
	
#if 0
	T = Eigen::Isometry3d::Identity();
	//T(2,3)=1;
	//cout<<T.matrix()<<endl;
	
	g2o::EdgeSE3* edge = new g2o::EdgeSE3();
		g2o::VertexSE3 *v = new g2o::VertexSE3();
		
		v->setId(8);
		v->setEstimate( Eigen::Isometry3d::Identity() );
	        m_globalOptimizer.addVertex(v);
	        
	        edge->vertices() [0] = m_globalOptimizer.vertex( 1 );
	        edge->vertices() [1] = m_globalOptimizer.vertex( 8 );
	        
	        Eigen::Matrix<double, 6, 6> information = Eigen::Matrix< double, 6,6 >::Identity();
	        information(0,0) = information(1,1) = information(2,2) = 100;
	        information(3,3) = information(4,4) = information(5,5) = 100;
	        edge->setInformation( information );
	        edge->setMeasurement( T );
	        m_globalOptimizer.addEdge(edge);
	

#endif
	
	m_globalOptimizer.save("pa.g2o");
	m_globalOptimizer.initializeOptimization();
	//m_globalOptimizer.optimize(50);
	m_globalOptimizer.save("pa2.g2o");
	cout<<"f**k"<<endl;
	VertexSE3* vertex = dynamic_cast<VertexSE3*>(m_globalOptimizer.vertex(2));
	Isometry3d pose = vertex -> estimate();
	//cout << "matrix:" << endl;
	cout << pose.matrix() << endl;
	
}